| The mobile robots are one kind of robot which can work in complex environment,auto-plan,auto-organization and auto-adapted ability.From industrial manufacture to military spy,nuclear industry,aviation and spaceflight,service industry,medical instrument,gene engineering,etc,mobile robots has great development space in all of these fields,on mobile robot's related technique researched,the navigation technology is considered the true intellectualization and the completely independent of key technologies,the mobile robot's navigation requests mobile robot through the sensors sensing environment and own condition, complete the independent movement in dynamic environment including obstacles.In recent years,the problem of navigation has been paid much attention in all over the world,they have got some quite worthy fruits.With the increasing of task complexity,the requirement of the mobile robot has developed to more intelligentized direction.Presently,the rapid development of artificial intelligence and computer technology accelerate the immitation of artificial intelligence used in robots and advanced many fruits.However,the navigation methods who have relatively self-contained functions have the characteristic of complex caculation and hardly completing.This thesis mainly does the research on the obstacle avoidance and navigation problems for indoor mobile robot,Wireless Sensor Network(WSN) and Radio Frequency Identification(RFID) are introduced into the research,and proposed one kind of new method for indoor mobile robot to navigaiton and obstacle avoidance.The main achievements and innovations in the thesis are as follows:1.RFID and its application in mobile robot are analyzed in detail,the environment high-level information acquisition method based on radio frequency identificaiton technology is studied,which can helps the robot to complete obstacle avoidance and navigation accurately,real-time;2.According to the characteristics of WSN using wireless sensor node localization technology and the wireless transmation,The thesis provides the policy-supporting for obstacle avoidance and navigation,helps the robot to make the reasonable decision;3.Constructed the mobile robot navigation experiment system based on RFID and WSN,carried on the obstacle avoidance and navigation experiment,the navigation experimental result indicated that the present method based on RFID technology and WSN of mobile robot can satisfy the indoor environment application requirment for mobile robot. |
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